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<p><code>#include &lt;opencv2/rgbd/depth.hpp&gt;</code></p>
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Inheritance diagram for cv::rgbd::FastICPOdometry:</div>
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<area alt="cv::rgbd::Odometry" coords="0,56,163,80" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html" shape="rect"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a9b9ca2fb349f60bb05d830f143202160"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a9b9ca2fb349f60bb05d830f143202160">FastICPOdometry</a> ()</td></tr>
<tr class="separator:a9b9ca2fb349f60bb05d830f143202160"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6b2f7442fe4ebc568d8d398022f2095d"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a6b2f7442fe4ebc568d8d398022f2095d">FastICPOdometry</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;<a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#adc38bd9a03bb5aa4d83ceb51a4068f39">cameraMatrix</a>, float <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a4f118f933d22e17ddd5a8f9de6b1816a">maxDistDiff</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">Odometry::DEFAULT_MAX_DEPTH_DIFF</a>(), float <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a1bc93cb13d3a07ec8901b070aa726f8f">angleThreshold</a>=(float)(30. *<a class="el" href="../../db/de0/group__core__utils.html#ga677b89fae9308b340ddaebf0dba8455f">CV_PI</a>/180.), float <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a0f35e7ef9553b5131ab73d1f7a8bc70b">sigmaDepth</a>=0.04f, float sigmaSpatial=4.5f, int kernelSize=7, const std::vector&lt; int &gt; &amp;iterCounts=std::vector&lt; int &gt;())</td></tr>
<tr class="separator:a6b2f7442fe4ebc568d8d398022f2095d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab6edfb82a04914c6183039cea62c3545"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#ab6edfb82a04914c6183039cea62c3545">getAngleThreshold</a> () const</td></tr>
<tr class="separator:ab6edfb82a04914c6183039cea62c3545"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0cd15a12316ee8d503a785c06381f90b"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a0cd15a12316ee8d503a785c06381f90b">getCameraMatrix</a> () const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a0cd15a12316ee8d503a785c06381f90b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a2428c171da2bef85d75b6c041c7579ec"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a2428c171da2bef85d75b6c041c7579ec">getIterationCounts</a> () const</td></tr>
<tr class="separator:a2428c171da2bef85d75b6c041c7579ec"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4a43e53abc3b91f6aeb3e6207b2425af"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a4a43e53abc3b91f6aeb3e6207b2425af">getKernelSize</a> () const</td></tr>
<tr class="separator:a4a43e53abc3b91f6aeb3e6207b2425af"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a5d2f83e96205a2d34bba972c85fdc275"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a5d2f83e96205a2d34bba972c85fdc275">getMaxDistDiff</a> () const</td></tr>
<tr class="separator:a5d2f83e96205a2d34bba972c85fdc275"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9448f664826b51e0579f268b78e1acfe"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a9448f664826b51e0579f268b78e1acfe">getSigmaDepth</a> () const</td></tr>
<tr class="separator:a9448f664826b51e0579f268b78e1acfe"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad9e35fb8f7eaae39ca88278ff09fe695"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#ad9e35fb8f7eaae39ca88278ff09fe695">getSigmaSpatial</a> () const</td></tr>
<tr class="separator:ad9e35fb8f7eaae39ca88278ff09fe695"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ac206e4fc41fed9bdd77ba51275656104"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#ac206e4fc41fed9bdd77ba51275656104">getTransformType</a> () const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:ac206e4fc41fed9bdd77ba51275656104"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a578c1849dbc9df24d80ffc28fda6f9c8"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a578c1849dbc9df24d80ffc28fda6f9c8">prepareFrameCache</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;frame, int cacheType) const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a578c1849dbc9df24d80ffc28fda6f9c8"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:afdabf172865125c2c67a6de7f4c13e6d"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#afdabf172865125c2c67a6de7f4c13e6d">setAngleThreshold</a> (float f)</td></tr>
<tr class="separator:afdabf172865125c2c67a6de7f4c13e6d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ac77a0fe8d5d7bcd3e8d76f7626d2031a"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#ac77a0fe8d5d7bcd3e8d76f7626d2031a">setCameraMatrix</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;val) <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:ac77a0fe8d5d7bcd3e8d76f7626d2031a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4b330f0a4fe9af02ed5900b847bfea97"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a4b330f0a4fe9af02ed5900b847bfea97">setIterationCounts</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;val)</td></tr>
<tr class="separator:a4b330f0a4fe9af02ed5900b847bfea97"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0f46fb0684a6bfe66ea36f3ca391c6cf"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a0f46fb0684a6bfe66ea36f3ca391c6cf">setKernelSize</a> (int f)</td></tr>
<tr class="separator:a0f46fb0684a6bfe66ea36f3ca391c6cf"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa9ff85e53affef56b1042942c47de94d"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#aa9ff85e53affef56b1042942c47de94d">setMaxDistDiff</a> (float val)</td></tr>
<tr class="separator:aa9ff85e53affef56b1042942c47de94d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:afec3584bcd59b435c38a0062b93c49f4"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#afec3584bcd59b435c38a0062b93c49f4">setSigmaDepth</a> (float f)</td></tr>
<tr class="separator:afec3584bcd59b435c38a0062b93c49f4"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6aa58e36d51ec85b5f81ff5778f11629"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a6aa58e36d51ec85b5f81ff5778f11629">setSigmaSpatial</a> (float f)</td></tr>
<tr class="separator:a6aa58e36d51ec85b5f81ff5778f11629"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a27faa00de58fa54759c392b7a09464fd"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a27faa00de58fa54759c392b7a09464fd">setTransformType</a> (int val) <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a27faa00de58fa54759c392b7a09464fd"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_methods_classcv_1_1rgbd_1_1Odometry"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcv_1_1rgbd_1_1Odometry')"><img alt="-" src="../../closed.png"/> Public Member Functions inherited from <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">cv::rgbd::Odometry</a></td></tr>
<tr class="memitem:ad88ca6c6231d5accf4b3a595d7ebaf0c inherit pub_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ad88ca6c6231d5accf4b3a595d7ebaf0c">compute</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcImage, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcDepth, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcMask, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstImage, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstDepth, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstMask, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt=<a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()) const</td></tr>
<tr class="separator:ad88ca6c6231d5accf4b3a595d7ebaf0c inherit pub_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:af706a3bb35d2b69737e7f4492c4ece4f inherit pub_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#af706a3bb35d2b69737e7f4492c4ece4f">compute</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;srcFrame, <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;dstFrame, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt=<a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()) const</td></tr>
<tr class="separator:af706a3bb35d2b69737e7f4492c4ece4f inherit pub_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Public Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a827c8b2781ed17574805f373e6054ff1 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a827c8b2781ed17574805f373e6054ff1">Algorithm</a> ()</td></tr>
<tr class="separator:a827c8b2781ed17574805f373e6054ff1 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8ae826127fa0f1f8d10a24841bd376f8 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a8ae826127fa0f1f8d10a24841bd376f8">~Algorithm</a> ()</td></tr>
<tr class="separator:a8ae826127fa0f1f8d10a24841bd376f8 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#aec9c965448e4dc851d7cacd3abd84cd1">clear</a> ()</td></tr>
<tr class="memdesc:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Clears the algorithm state.  <a href="../../d3/d46/classcv_1_1Algorithm.html#aec9c965448e4dc851d7cacd3abd84cd1">More...</a><br/></td></tr>
<tr class="separator:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#ab6a18f1825475643e94381697d413972">empty</a> () const</td></tr>
<tr class="memdesc:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html" title="This is a base class for all more or less complex algorithms in OpenCV. ">Algorithm</a> is empty (e.g. in the very beginning or after unsuccessful read.  <a href="../../d3/d46/classcv_1_1Algorithm.html#ab6a18f1825475643e94381697d413972">More...</a><br/></td></tr>
<tr class="separator:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a286fc82744ccab3d248aca44524266a9 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a286fc82744ccab3d248aca44524266a9">getDefaultName</a> () const</td></tr>
<tr class="separator:a286fc82744ccab3d248aca44524266a9 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#aef2ad3f4145bd6e8c3664eb1c4b5e1e6">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Reads algorithm parameters from a file storage.  <a href="../../d3/d46/classcv_1_1Algorithm.html#aef2ad3f4145bd6e8c3664eb1c4b5e1e6">More...</a><br/></td></tr>
<tr class="separator:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0a880744bc4e3f45711444571df47d67 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a0a880744bc4e3f45711444571df47d67">save</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;filename) const</td></tr>
<tr class="separator:a0a880744bc4e3f45711444571df47d67 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a1f8ad7b8add515077367fb9949a174d2">write</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const</td></tr>
<tr class="memdesc:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Stores algorithm parameters in a file storage.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a1f8ad7b8add515077367fb9949a174d2">More...</a><br/></td></tr>
<tr class="separator:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a763a62d1b03042eef7d7fc3ac6c87c79">write</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &gt; &amp;fs, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;name=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>()) const</td></tr>
<tr class="memdesc:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">simplified API for language bindings This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a763a62d1b03042eef7d7fc3ac6c87c79">More...</a><br/></td></tr>
<tr class="separator:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a774050fcb4b494a12e39131e016b449b"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html">FastICPOdometry</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a774050fcb4b494a12e39131e016b449b">create</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;<a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#adc38bd9a03bb5aa4d83ceb51a4068f39">cameraMatrix</a>, float <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a4f118f933d22e17ddd5a8f9de6b1816a">maxDistDiff</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">Odometry::DEFAULT_MAX_DEPTH_DIFF</a>(), float <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a1bc93cb13d3a07ec8901b070aa726f8f">angleThreshold</a>=(float)(30. *<a class="el" href="../../db/de0/group__core__utils.html#ga677b89fae9308b340ddaebf0dba8455f">CV_PI</a>/180.), float <a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a0f35e7ef9553b5131ab73d1f7a8bc70b">sigmaDepth</a>=0.04f, float sigmaSpatial=4.5f, int kernelSize=7, const std::vector&lt; int &gt; &amp;iterCounts=std::vector&lt; int &gt;())</td></tr>
<tr class="separator:a774050fcb4b494a12e39131e016b449b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcv_1_1rgbd_1_1Odometry')"><img alt="-" src="../../closed.png"/> Static Public Member Functions inherited from <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">cv::rgbd::Odometry</a></td></tr>
<tr class="memitem:a7763a1c1ffaff84eb3de6b6c83d157af inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">Odometry</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a7763a1c1ffaff84eb3de6b6c83d157af">create</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;odometryType)</td></tr>
<tr class="separator:a7763a1c1ffaff84eb3de6b6c83d157af inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab9b0710c56e1ba0d861a16cae2000c78 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ab9b0710c56e1ba0d861a16cae2000c78">DEFAULT_MAX_DEPTH</a> ()</td></tr>
<tr class="separator:ab9b0710c56e1ba0d861a16cae2000c78 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ace1301318716355d12586c3028e84e1e inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">DEFAULT_MAX_DEPTH_DIFF</a> ()</td></tr>
<tr class="separator:ace1301318716355d12586c3028e84e1e inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9a301d39d2dd32519ac1b6f8cfefc358 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9a301d39d2dd32519ac1b6f8cfefc358">DEFAULT_MAX_POINTS_PART</a> ()</td></tr>
<tr class="separator:a9a301d39d2dd32519ac1b6f8cfefc358 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a47b0d3af975ec11c285bb544d54b3720 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a47b0d3af975ec11c285bb544d54b3720">DEFAULT_MAX_ROTATION</a> ()</td></tr>
<tr class="separator:a47b0d3af975ec11c285bb544d54b3720 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6a08d1b708ab5de096df80d90f9029b6 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a6a08d1b708ab5de096df80d90f9029b6">DEFAULT_MAX_TRANSLATION</a> ()</td></tr>
<tr class="separator:a6a08d1b708ab5de096df80d90f9029b6 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4f7854bd4c50808fbb1328c8faba4023 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4f7854bd4c50808fbb1328c8faba4023">DEFAULT_MIN_DEPTH</a> ()</td></tr>
<tr class="separator:a4f7854bd4c50808fbb1328c8faba4023 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_static_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Static Public Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a623841c33b58ea9c4847da04607e067b">load</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;filename, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;objname=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>())</td></tr>
<tr class="memdesc:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Loads algorithm from the file.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a623841c33b58ea9c4847da04607e067b">More...</a><br/></td></tr>
<tr class="separator:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a3ba305a10d02479c13cf7d169c321547">loadFromString</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;strModel, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;objname=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>())</td></tr>
<tr class="memdesc:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Loads algorithm from a String.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a3ba305a10d02479c13cf7d169c321547">More...</a><br/></td></tr>
<tr class="separator:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#ad8c591bacb34c485f5b7a250c314fc53">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Reads algorithm from the file node.  <a href="../../d3/d46/classcv_1_1Algorithm.html#ad8c591bacb34c485f5b7a250c314fc53">More...</a><br/></td></tr>
<tr class="separator:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a1dbd0738ac18917c29a226d893c1cf67"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a1dbd0738ac18917c29a226d893c1cf67">checkParams</a> () const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a1dbd0738ac18917c29a226d893c1cf67"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1cdbe9e377ebf8e8dd0ce4d70c10f01e"><td align="right" class="memItemLeft" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a1cdbe9e377ebf8e8dd0ce4d70c10f01e">computeImpl</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;srcFrame, const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;dstFrame, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt) const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a1cdbe9e377ebf8e8dd0ce4d70c10f01e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pro_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Protected Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a68eeca71617474ad3d4561786f0289d2 inherit pro_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a68eeca71617474ad3d4561786f0289d2">writeFormat</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const</td></tr>
<tr class="separator:a68eeca71617474ad3d4561786f0289d2 inherit pro_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
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Protected Attributes</h2></td></tr>
<tr class="memitem:a1bc93cb13d3a07ec8901b070aa726f8f"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a1bc93cb13d3a07ec8901b070aa726f8f">angleThreshold</a></td></tr>
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<tr class="memitem:adc38bd9a03bb5aa4d83ceb51a4068f39"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#adc38bd9a03bb5aa4d83ceb51a4068f39">cameraMatrix</a></td></tr>
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<tr class="memitem:a3e2e55b3264b1b95746f0f2b9cba9cb2"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a3e2e55b3264b1b95746f0f2b9cba9cb2">iterCounts</a></td></tr>
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<tr class="memitem:af4df0414a73d0304aee76959fe9ece14"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#af4df0414a73d0304aee76959fe9ece14">kernelSize</a></td></tr>
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<tr class="memitem:a4f118f933d22e17ddd5a8f9de6b1816a"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a4f118f933d22e17ddd5a8f9de6b1816a">maxDistDiff</a></td></tr>
<tr class="separator:a4f118f933d22e17ddd5a8f9de6b1816a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0f35e7ef9553b5131ab73d1f7a8bc70b"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a0f35e7ef9553b5131ab73d1f7a8bc70b">sigmaDepth</a></td></tr>
<tr class="separator:a0f35e7ef9553b5131ab73d1f7a8bc70b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9608ce96dd2e95c19844fc5fd07bca71"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a9608ce96dd2e95c19844fc5fd07bca71">sigmaSpatial</a></td></tr>
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Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_classcv_1_1rgbd_1_1Odometry"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classcv_1_1rgbd_1_1Odometry')"><img alt="-" src="../../closed.png"/> Public Types inherited from <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">cv::rgbd::Odometry</a></td></tr>
<tr class="memitem:ae7a3edbfabe941c9af6bd0f9beff53d0 inherit pub_types_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0ae3468f480f38fd07af69c3464c87d558">ROTATION</a> = 1, 
<br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0ac2ff112f8f88bc6d52804e7381ac48c4">TRANSLATION</a> = 2, 
<br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0a754692ca9d6cadbc925cc7ce2337ed95">RIGID_BODY_MOTION</a> = 4
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 }</td></tr>
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<a id="details" name="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A faster version of <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html">ICPOdometry</a> which is used in KinectFusion implementation Partial list of differences:</p><ul>
<li>Works in parallel</li>
<li>Written in universal intrinsics</li>
<li>Filters points by angle</li>
<li>Interpolates points and normals</li>
<li>Doesn't use masks or min/max depth filtering</li>
<li>Doesn't use random subsets of points</li>
<li>Supports only Rt transform type</li>
<li>Supports only 4-float vectors as input type </li>
</ul>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a9b9ca2fb349f60bb05d830f143202160">◆ </a></span>FastICPOdometry() <span class="overload">[1/2]</span></h2>
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          <td class="memname">cv::rgbd::FastICPOdometry::FastICPOdometry </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<h2 class="memtitle"><span class="permalink"><a href="#a6b2f7442fe4ebc568d8d398022f2095d">◆ </a></span>FastICPOdometry() <span class="overload">[2/2]</span></h2>
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          <td class="memname">cv::rgbd::FastICPOdometry::FastICPOdometry </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>maxDistDiff</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">Odometry::DEFAULT_MAX_DEPTH_DIFF</a>()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>angleThreshold</em> = <code>(float)(30. *<a class="el" href="../../db/de0/group__core__utils.html#ga677b89fae9308b340ddaebf0dba8455f">CV_PI</a>/180.)</code>, </td>
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          <td class="paramtype">float </td>
          <td class="paramname"><em>sigmaDepth</em> = <code>0.04f</code>, </td>
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          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>sigmaSpatial</em> = <code>4.5f</code>, </td>
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          <td class="paramtype">int </td>
          <td class="paramname"><em>kernelSize</em> = <code>7</code>, </td>
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          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp; </td>
          <td class="paramname"><em>iterCounts</em> = <code>std::vector&lt; int &gt;()</code> </td>
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          <td>)</td>
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<p>Constructor. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cameraMatrix</td><td>Camera matrix </td></tr>
    <tr><td class="paramname">maxDistDiff</td><td>Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff </td></tr>
    <tr><td class="paramname">angleThreshold</td><td>Correspondence will be filtered out if an angle between their normals is bigger than threshold </td></tr>
    <tr><td class="paramname">sigmaDepth</td><td>Depth sigma in meters for bilateral smooth </td></tr>
    <tr><td class="paramname">sigmaSpatial</td><td>Spatial sigma in pixels for bilateral smooth </td></tr>
    <tr><td class="paramname">kernelSize</td><td>Kernel size in pixels for bilateral smooth </td></tr>
    <tr><td class="paramname">iterCounts</td><td>Count of iterations on each pyramid level </td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a1dbd0738ac18917c29a226d893c1cf67">◆ </a></span>checkParams()</h2>
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          <td class="memname">virtual void cv::rgbd::FastICPOdometry::checkParams </td>
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          <td> const</td>
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<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ac4fbc5da04bddaead526fd3470b5019b">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1cdbe9e377ebf8e8dd0ce4d70c10f01e">◆ </a></span>computeImpl()</h2>
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          <td class="memname">virtual bool cv::rgbd::FastICPOdometry::computeImpl </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>srcFrame</em>, </td>
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          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>dstFrame</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Rt</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>initRt</em> </td>
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          <td>)</td>
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<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4cf0681bb36181a8dbb3340b0d0e667e">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a774050fcb4b494a12e39131e016b449b">◆ </a></span>create()</h2>
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          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html">FastICPOdometry</a>&gt; cv::rgbd::FastICPOdometry::create </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>maxDistDiff</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">Odometry::DEFAULT_MAX_DEPTH_DIFF</a>()</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>angleThreshold</em> = <code>(float)(30. *<a class="el" href="../../db/de0/group__core__utils.html#ga677b89fae9308b340ddaebf0dba8455f">CV_PI</a>/180.)</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>sigmaDepth</em> = <code>0.04f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>sigmaSpatial</em> = <code>4.5f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>kernelSize</em> = <code>7</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp; </td>
          <td class="paramname"><em>iterCounts</em> = <code>std::vector&lt; int &gt;()</code> </td>
        </tr>
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          <td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd.FastICPOdometry_create(</td><td class="paramname">cameraMatrix[, maxDistDiff[, angleThreshold[, sigmaDepth[, sigmaSpatial[, kernelSize[, iterCounts]]]]]]</td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#ab6edfb82a04914c6183039cea62c3545">◆ </a></span>getAngleThreshold()</h2>
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          <td class="memname">float cv::rgbd::FastICPOdometry::getAngleThreshold </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.getAngleThreshold(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a0cd15a12316ee8d503a785c06381f90b">◆ </a></span>getCameraMatrix()</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::rgbd::FastICPOdometry::getCameraMatrix </td>
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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.getCameraMatrix(</td><td class="paramname"></td><td>)</td></tr></table>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#ac77a0fe8d5d7bcd3e8d76f7626d2031a">setCameraMatrix</a> </dd></dl>
<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9eb4dd7790987524cd5aa5355c602422">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2428c171da2bef85d75b6c041c7579ec">◆ </a></span>getIterationCounts()</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::rgbd::FastICPOdometry::getIterationCounts </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.getIterationCounts(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a4a43e53abc3b91f6aeb3e6207b2425af">◆ </a></span>getKernelSize()</h2>
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          <td class="memname">int cv::rgbd::FastICPOdometry::getKernelSize </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.getKernelSize(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a5d2f83e96205a2d34bba972c85fdc275">◆ </a></span>getMaxDistDiff()</h2>
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          <td>(</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.getMaxDistDiff(</td><td class="paramname"></td><td>)</td></tr></table>
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</div>
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<a id="a9448f664826b51e0579f268b78e1acfe"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9448f664826b51e0579f268b78e1acfe">◆ </a></span>getSigmaDepth()</h2>
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          <td class="memname">float cv::rgbd::FastICPOdometry::getSigmaDepth </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.getSigmaDepth(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#ad9e35fb8f7eaae39ca88278ff09fe695">◆ </a></span>getSigmaSpatial()</h2>
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          <td class="memname">float cv::rgbd::FastICPOdometry::getSigmaSpatial </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.getSigmaSpatial(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#ac206e4fc41fed9bdd77ba51275656104">◆ </a></span>getTransformType()</h2>
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          <td class="memname">int cv::rgbd::FastICPOdometry::getTransformType </td>
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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.getTransformType(</td><td class="paramname"></td><td>)</td></tr></table>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a27faa00de58fa54759c392b7a09464fd">setTransformType</a> </dd></dl>
<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ac1cd3bb8aa12d895ec403db30d786b2f">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a578c1849dbc9df24d80ffc28fda6f9c8">◆ </a></span>prepareFrameCache()</h2>
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          <td class="memname">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> cv::rgbd::FastICPOdometry::prepareFrameCache </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>frame</em>, </td>
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          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>cacheType</em> </td>
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          <td></td><td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_FastICPOdometry.prepareFrameCache(</td><td class="paramname">frame, cacheType</td><td>)</td></tr></table>
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<p>Prepare a cache for the frame. The function checks the precomputed/passed data (throws the error if this data does not satisfy) and computes all remaining cache data needed for the frame. Returned size is a resolution of the prepared frame. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">frame</td><td>The odometry which will process the frame. </td></tr>
    <tr><td class="paramname">cacheType</td><td>The cache type: CACHE_SRC, CACHE_DST or CACHE_ALL. </td></tr>
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<p>Reimplemented from <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a894cc56de5ecc916d19a7984c6f307a8">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#afdabf172865125c2c67a6de7f4c13e6d">◆ </a></span>setAngleThreshold()</h2>
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          <td class="memname">void cv::rgbd::FastICPOdometry::setAngleThreshold </td>
          <td>(</td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>f</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_FastICPOdometry.setAngleThreshold(</td><td class="paramname">f</td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#ac77a0fe8d5d7bcd3e8d76f7626d2031a">◆ </a></span>setCameraMatrix()</h2>
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          <td class="memname">void cv::rgbd::FastICPOdometry::setCameraMatrix </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp; </td>
          <td class="paramname"><em>val</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_FastICPOdometry.setCameraMatrix(</td><td class="paramname">val</td><td>)</td></tr></table>
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<p></p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#a0cd15a12316ee8d503a785c06381f90b">getCameraMatrix</a> </dd></dl>
<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a658b4fd102a96211fba428b16633b1c8">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4b330f0a4fe9af02ed5900b847bfea97">◆ </a></span>setIterationCounts()</h2>
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          <td class="memname">void cv::rgbd::FastICPOdometry::setIterationCounts </td>
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          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp; </td>
          <td class="paramname"><em>val</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_FastICPOdometry.setIterationCounts(</td><td class="paramname">val</td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a0f46fb0684a6bfe66ea36f3ca391c6cf">◆ </a></span>setKernelSize()</h2>
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          <td class="memname">void cv::rgbd::FastICPOdometry::setKernelSize </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>f</em></td><td>)</td>
          <td></td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_FastICPOdometry.setKernelSize(</td><td class="paramname">f</td><td>)</td></tr></table>
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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa9ff85e53affef56b1042942c47de94d">◆ </a></span>setMaxDistDiff()</h2>
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          <td class="memname">void cv::rgbd::FastICPOdometry::setMaxDistDiff </td>
          <td>(</td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>val</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_FastICPOdometry.setMaxDistDiff(</td><td class="paramname">val</td><td>)</td></tr></table>
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</div>
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<a id="afec3584bcd59b435c38a0062b93c49f4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afec3584bcd59b435c38a0062b93c49f4">◆ </a></span>setSigmaDepth()</h2>
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          <td class="memname">void cv::rgbd::FastICPOdometry::setSigmaDepth </td>
          <td>(</td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>f</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_FastICPOdometry.setSigmaDepth(</td><td class="paramname">f</td><td>)</td></tr></table>
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<a id="a6aa58e36d51ec85b5f81ff5778f11629"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6aa58e36d51ec85b5f81ff5778f11629">◆ </a></span>setSigmaSpatial()</h2>
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          <td class="memname">void cv::rgbd::FastICPOdometry::setSigmaSpatial </td>
          <td>(</td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>f</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_FastICPOdometry.setSigmaSpatial(</td><td class="paramname">f</td><td>)</td></tr></table>
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<a id="a27faa00de58fa54759c392b7a09464fd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a27faa00de58fa54759c392b7a09464fd">◆ </a></span>setTransformType()</h2>
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          <td class="memname">void cv::rgbd::FastICPOdometry::setTransformType </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>val</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_FastICPOdometry.setTransformType(</td><td class="paramname">val</td><td>)</td></tr></table>
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<p></p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d63/classcv_1_1rgbd_1_1FastICPOdometry.html#ac206e4fc41fed9bdd77ba51275656104">getTransformType</a> </dd></dl>
<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a8b4b267ab88b06d85cd394a84553181d">cv::rgbd::Odometry</a>.</p>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a1bc93cb13d3a07ec8901b070aa726f8f">◆ </a></span>angleThreshold</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> cv::rgbd::FastICPOdometry::cameraMatrix</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
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